DeletionFilter.cpp

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/*
 * DeletionFilter.cpp
 *
 *  Created on: Mar 19, 2015
 *      Author: Martin Wermelinger, Peter Fankhauser
 *   Institute: ETH Zurich, ANYbotics
 */

#include "grid_map_filters/DeletionFilter.hpp"

#include <grid_map_core/GridMap.hpp>
#include <pluginlib/class_list_macros.h>

using namespace filters;

namespace grid_map {

template<typename T>
DeletionFilter<T>::DeletionFilter()
{
}

template<typename T>
DeletionFilter<T>::~DeletionFilter()
{
}

template<typename T>
bool DeletionFilter<T>::configure()
{
  // Load Parameters
  if (!FilterBase<T>::getParam(std::string("layers"), layers_)) {
    ROS_ERROR("DeletionFilter did not find parameter 'layers'.");
    return false;
  }

  return true;
}

template<typename T>
bool DeletionFilter<T>::update(const T& mapIn, T& mapOut)
{
  mapOut = mapIn;

  for (const auto& layer : layers_) {
    // Check if layer exists.
    if (!mapOut.exists(layer)) {
      ROS_ERROR("Check your deletion layers! Type %s does not exist.",
                layer.c_str());
      continue;
    }

    if (!mapOut.erase(layer)) {
      ROS_ERROR("Could not remove type %s.", layer.c_str());
    }
  }

  return true;
}

} /* namespace */

PLUGINLIB_EXPORT_CLASS(grid_map::DeletionFilter<grid_map::GridMap>, filters::FilterBase<grid_map::GridMap>)